Research on Imitation–Reinforcement Hybrid Machine Learning Algorithms: Application in Path Planning

Path planning in complex, dynamic environments presents a significant challenge. Deep Reinforcement Learning (DRL) offers an end-to-end solution but suffers from critical sample inefficiency and a “cold-start” problem. Imitation Learning (IL) accelerates training but is constrained by a performance ceiling and poor generalization. To address these limitations, we propose a novel Imitation–Reinforcement Hybrid Machine Learning Algorithm (Hybrid IL-RL). This framework balances exploration and performance via a two-stage process: First, an offline pre-training phase uses Behavioral Cloning (BC) with “non-expert” A* data from static environments for a “warm start”. Second, an online fine-tuning phase uses a DRL algorithm (SAC) to adapt this policy in complex, dynamic environments, allowing the agent to surpass the teacher’s limitations. Simulation experiments validate the approach. The framework demonstrates significantly faster convergence than DRL algorithms trained from scratch. Most critically, in the dynamic environment, our Hybrid IL-RL algorithm achieved the highest success rate (82.4%), while pure IL methods (BC, GAIL) failed due to poor generalization (e.g., 82.1% collision rate) and pure DRL methods struggled (approx. 51–56% success rate). Our results confirm the hybrid framework effectively solves the cold-start problem while using DRL to break the IL performance ceiling.